Research On Positon-Attitude Determination And Controlling For Failed Satellite In The Close Distance Perambulation

With the development of space technology, on-orbit perambulation operation has become aresearch hotspot for the non-cooperative failed satellites. Since the failed satellite can’t provide itsown real-time position and attitude information effectively, it will make a high demand of thenavigation system’s autonomy, reliability and accuracy for the complicated and unpredictable trackingprocess of the chaser satellite in the close-distance perambulation. Meanwhile, in order to ensure thesecurity and reliability of the perambulation operation, designing a set of relative position and attitudecontrol scheme and algorithm is necessary.The close-distance perambulation of the failed satellite is studied as the research background inthis paper. In order to make sure the chaser satellite’s position and attitude accurate and effective inthe perambulation approaching, a single combination of navigation system can’t satisfy the demandsof high precision, high reliability and strong autonomy at the same time. This thesis deals with theinertial/satellite/strar sensor-based the multi-sensor navigation precision navigation technology for thechaser satellite. On this basis, the optimizational multi-sensor navigation system model andmeasurement model are designed. The redundancy of the meansurement system is considered, thefederal filter navigation system is used to realize the chaser satellite’s position and attitudedetermination in the close-distance perambulation.On the basis of the analysis for the failed satellite’s characteristic and motion mode, the failedsatellite can’t be regarded as a point-mass model in the close–distance perambulation andapproximation. The measurement method based on the the interest point of the local field is studied.Combined with the failed satellite whose structure model has been known, the relative positionobserved model based on the local field’s interest point of the failed satellite’s surface is studied bythe stereo vision system. Additionally, the failed satellite’s position and attitude are consideredunpredictable, a method of the relative position-attitude and chaser satellite’s position-attitude jointdetermination based on the extended Kalman filter is proposed, which can effectively improve themeasurement precision of the failed satellite’s position and attitude.Combined with the demand of the high precision and agility for the control system in the failedsatellite’s close–distance perambulation, the relative position and attitude dynamic model and controlframe are established based on the failed satellite’s local field. On this basis, the reference trajectorycontrol method is designed, which is convenient for perambulation. Finally, the PD control algorithm based on the line-trajectory and the tracking control law based on the angle-trajectory are designed.Due to the coupled position and attitude in the close-distance perambulation, the control method ofrelative position and attitude based on the reference trajectory is designed combined with C-Wequations, attitude dynamics and kinematics equations. The control methods above are provided as thetheoretical reference for the failed satellite’s on-orbit perambulation.In order to vertify the algorithm’s performance proposed in this paper, the simulation platform ofthe autonomous navigation system for the chaser satellite’s perambulation is developed. Based on thehardware architecture of PC104, the semi-physical simulation system of the chaser satellite’sperambulation is established, which effectively verify the performance of the autonomous navigationalgorithm.